Robot cleaner system having robot cleaner and docking station

ABSTRACT

A robot cleaner system having an improved docking structure to allow a dust discharge port of a robot cleaner to come into close contact with a dust suction port of a docking station without an additional drive device. The robot cleaner system includes a robot cleaner having a dust discharge port, a docking station having a dust suction port to suction dust collected in the robot cleaner, and a docking device to perform a seesaw movement as it comes into contact with the robot cleaner when the robot cleaner docks with the docking station, so as to allow the dust suction port to come into close contact with the dust discharge port. The docking device further includes a link member installed in the docking station in a pivotally rotatable manner. The link member has one end provided with a contact portion to come into contact with the robot cleaner, and the other end provided with a docking portion defining the dust suction port therein.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority benefit of Korean PatentApplication No. 2007-0085304, filed on Aug. 24, 2007 in the KoreanIntellectual Property Office, the disclosure of which is incorporatedherein by reference.

BACKGROUND

1. Field

Embodiments relate to a robot cleaner system, and, more particularly, toa robot cleaner system having a docking station installed to suction andremove dust collected in a robot cleaner.

2. Description of the Related Art

A cleaner is an appliance to remove dirt and clean a room. A vacuumcleaner is generally used to suction dirt by use of a suction forcegenerated from a low-pressure unit. Recently, the development of a robotcleaner is underway. The robot cleaner removes dirt from the floor by aself-running function thereof without a user's labor.

Generally, the robot cleaner is used together with a station(hereinafter, referred to as a “docking station”), to constitute asingle system. The docking station is located at a desired position of aroom and has the function of charging the robot cleaner or removing dustcollected in the robot cleaner.

An example of the robot cleaner system is disclosed in U.S. PublishedPatent No. 2005/0150519. The disclosed robot cleaner system includes arobot cleaner, and a docking station having a dust suction unit. Therobot cleaner has a dust suction port perforated in the bottom thereof,and a brush is rotatably installed to the suction hole to sweep awaydust on the floor. The docking station has a deck formed with a slope toallow the robot cleaner to ascend thereon, and a dust suction port isformed in a position of the slope. With this configuration, if the robotcleaner ascends along the slope and reaches a docking position, thesuction hole of the robot cleaner and the suction hole of the slope arealigned to face each other. In this state, dust collected in the robotcleaner can be removed by operation of the suction unit.

In the above described conventional robot cleaner system, the suction ofdust from the robot cleaner into the docking station is carried out, ina state wherein both the suction holes of the robot cleaner and thedocking station simply face each other, without a docking device toconnect the robot cleaner and the docking station to each other.However, this system has problems including a great loss of a suctionforce generated from the suction unit and leakage of dust, which was tobe moved from the robot cleaner into the docking station, into a roomhaving the conventional robot cleaner system.

As a solution of the above described problems, Korean Patent Laid-openPublication No. 2007-0010298 discloses a dust-removal device (dockingstation) for a robot cleaner, which has a connector to be moved up anddown by operation of a drive device.

If the robot cleaner docks with the dust-removal device, the connectorof the dust-removal device is moved down to be inserted into the robotcleaner, thereby communicating with a dust receptacle provided in therobot cleaner. In this state, dust collected in the dust receptacle ofthe robot cleaner can be suctioned into the dust-removal device throughthe connector by operation of a fan motor assembly of the dust-removaldevice.

In the above described dust-removal device, since the suction of dustfrom the robot cleaner into the dust-removal device is carried out in astate wherein the connector of the dust-removal device is inserted intothe robot cleaner, the dust collected in the robot cleaner can beefficiently removed without the loss of a suction force. However, tomove the connector, it is necessary to provide a drive device for theconnector within the dust-removal device, and this has a problem ofcomplicating the configuration of the dust-removal device.

SUMMARY

Accordingly, it is an aspect of embodiments to provide a robot cleanersystem having an improved docking structure, in which a dust dischargeport of a robot cleaner can come into close contact with a dust suctionport of a docking station without an additional drive device.

In accordance with an aspect of embodiments, the above and/or otheraspects can be achieved by the provision of a robot cleaner systemincluding a robot cleaner having a dust discharge port; a dockingstation having a dust suction port to suction dust collected in therobot cleaner; and a docking device to contact with the robot cleaner toperform a seesaw movement when the robot cleaner docks with the dockingstation, so as to allow the dust suction port to close contact with thedust discharge port.

The docking device may include a link member rotatably mounted to thedocking station.

The link member may include one end having a contact portion to contactwith the robot cleaner, and the other end having a docking portiondefining the dust suction port therein.

The contact portion may be provided with a roller to rotate in contactwith the robot cleaner.

The docking device may further include an elastic member to elasticallybias the link member such that the dust suction port is spaced apartfrom the dust discharge port.

The docking device may include a flexible joint pipe having one endcommunicating with the dust suction port and the other end fixed to thedocking station.

The docking device may include a sealing member to seal a gap betweenthe dust discharge port and the dust suction port.

The robot cleaner may include a slope to guide the seesaw movement ofthe docking device when the robot cleaner moves in contact with thedocking device.

The docking station may include a suction device to generate a suctionforce, and a dust-collecting device to collect dust suctioned from therobot cleaner.

The robot cleaner system may further include a manual vacuum cleaner tobe connected with the docking station, to suction the dust collected inthe robot cleaner through the dust suction port.

In accordance with another aspect of embodiments, there is provided arobot cleaner system including a robot cleaner having a dust dischargeport; a docking station having a dust suction port to suction dustcollected in the robot cleaner and a connecting port communicating withthe dust suction port; a docking device to be pivotally rotated as itcomes into contact with the robot cleaner when the robot cleaner dockswith the docking station, so as to allow the dust suction port to closecontact with the dust discharge port; and a manual vacuum cleaner havinga connecting pipe to be fitted into the connecting port, the manualvacuum cleaner being used to suction the dust from the robot cleanerthrough the dust discharge port, the dust suction port, and theconnecting pipe.

The docking device may include a link member rotatably mounted to thedocking station, and the link member may comprise one end having acontact portion to come into contact with an upper surface the robotcleaner, and the other end having a docking portion defining the dustsuction port therein.

The link member may perform a seesaw movement in a first direction whenthe robot cleaner moves while contacting with the contact portion, so asto allow the dust suction port to come into close contact with the dustdischarge port, and also may perform a seesaw movement in a seconddirection when the robot cleaner is separated from the contact portion,so as to space apart the dust suction port from the dust discharge port.

In accordance with a further aspect of embodiments, there is provided arobot cleaner system including a robot cleaner having a dust dischargeport; a docking station having a dust suction port to suction dustcollected in the robot cleaner; and a docking device to perform a seesawmovement as it comes into contact with the docking station when therobot cleaner docks with the docking station, so as to allow the dustdischarge port to come into close contact with the dust suction port.

In accordance with another aspect of embodiments, there is provided adocking station to dock with a robot cleaner having a dust dischargeport, the docking station including a frame; and a link member rotatablycoupled to the frame, wherein the link member includes a contact portionto be pivotally rotated as it comes into contact with the robot cleanerupon docking of the robot cleaner, and a dust suction port formed at theopposite side of the contact portion about a rotating center of the linkmember, the dust suction port coming into close contact with the dustdischarge port of the robot cleaner by the pivotal rotation of thecontact portion.

In accordance with yet another aspect of embodiments, there is provideda robot cleaner to dock with a docking station having a dust suctionport so as to discharge dust collected therein, the robot cleanerincluding a frame; and a link member rotatably coupled to the frame,wherein the link member comprises a contact portion to be pivotallyrotated as it comes into contact with the docking station, and a dustdischarge port formed at the opposite side of the contact portion abouta rotating center of the link member, the dust discharge port cominginto close contact with the dust suction port of the docking station bythe pivotal rotation of the contact portion.

In accordance with yet another aspect of the invention embodiments,there is provided a docking device for allowing a dust suction port of adocking station to move into close contact with a dust discharge port ofa robot cleaner, including a link member having a first end with acontact portion to contact the robot cleaner and a second end with adocking portion defining the dust suction port therein, wherein therobot cleaner has a slope to guide the docking device to move the dustsuction port into close contact with the dust discharge port as therobot cleaner moves into the docking station to prevent leakage of dustduring transfer of dust from the robot cleaner to the docking station.

The docking device may further include an elastic member to elasticallybias the link member such that the dust suction port is spaced from thedust discharge port as the robot cleaner departs from the dockingstation.

The docking device may further include a flexible joint pipe having oneend communicating with the dust suction port and the other end fixed tothe docking station.

The docking device may further include a sealing member to seal a gapbetween the dust discharge port and the dust suction port.

The link member may perform a seesaw movement in a first direction whenthe robot cleaner moves while contacting with the contact portion, so asto allow the dust suction port to come into close contact with the dustdischarge port, and also performs a seesaw movement in a seconddirection when the robot cleaner is separated from the contact portion,so as to space apart the dust suction port from the dust discharge port.

In accordance with yet another aspect of the invention embodiments,there is provided a robot cleaner to dock with a docking device of adocking station having a dust suction port so as to discharge dustcollected therein, the robot cleaner including a dust discharge port;and a slope to guide the docking device to move the dust suction portinto close contact with the dust discharge port as the robot cleanermoves into the docking station to prevent leakage of dust duringtransfer of dust from the robot cleaner to the docking station.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects, features, and advantages will becomeapparent and more readily appreciated from the following description ofexemplary embodiments, taken in conjunction with the accompanyingdrawings of which:

FIGS. 1 and 2 are sectional views, respectively, showing a robot cleanerand a docking station of a robot cleaner system according to anexemplary embodiment;

FIG. 3 is a perspective view showing the configuration of a dockingdevice of the robot cleaner system according to an exemplary embodiment;

FIGS. 4 and 5 are sectional views illustrating the operation of therobot cleaner system according to an exemplary embodiment;

FIG. 6 is a sectional view illustrating the configuration of a robotcleaner system according to another exemplary embodiment; and

FIG. 7 is a sectional view showing a partial configuration of FIG. 6.

DETAILED DESCRIPTION OF EMBODIMENTS

Reference will now be made in detail to exemplary embodiments, examplesof which are illustrated in the accompanying drawings, wherein likereference numerals refer to like elements throughout. Exemplaryembodiments are described below by referring to the figures.

FIGS. 1 and 2 are sectional views, respectively, showing a robot cleanerand a docking station of a robot cleaner system according to anexemplary embodiment.

As shown in FIGS. 1 and 2, the robot cleaner system according to anexemplary embodiment includes a robot cleaner 100 and a docking station200. The robot cleaner 100 performs a cleaning operation for a cleaningregion by self-running thereof, and returns to the docking station 200if dust over a predetermined level is accumulated therein, to dischargethe dust.

As shown in FIG. 1, the robot cleaner 100 includes a robot body 110, anda first suction device 120 and a first dust-collecting device 130installed in the robot body 110.

The first suction device 120 is used to generate a suction forcerequired to suction dust. The first suction device 120 includes asuction motor (not shown) and a blowing fan (not shown). The firstdust-collecting device 130 is used to collect and store the dustintroduced into the robot body 100 by the suction force. The firstdust-collecting device 130 may incorporate a filter 131 to prevent thedust from being introduced into the first suction device 120, and adust-amount sensor 132 to sense the amount of the dust accumulated inthe dust-collecting device 130.

The robot body 110 is provided, at the bottom thereof, with a pair ofdrive wheels 111, for the self-running of the robot cleaner 100. Thepair of drive wheels 111 can be selectively driven by a drive motor (notshown) provided to rotate the drive wheels 111, respectively, to movethe robot cleaner 100 in a desired direction. An obstacle detectingsensor 112, such as an infrared sensor, ultrasonic sensor, or the like,is installed at an outer surface of the robot body 110. The obstacledetecting sensor 112 is used to measure a distance from the robotcleaner 100 to an obstacle located around the robot cleaner 100, toassist the robot cleaner 100 to avoid the obstacle.

The robot body 110 has an inlet hole 113 formed in the bottom thereof tosuction dust from the floor of the cleaning region, and a vent hole 114formed in the top thereof to discharge air, discharged from the firstsuction device 120, to the outside of the robot body 110. Also, therobot body 110 has a dust discharge port 115 formed in the top thereofto discharge the dust, collected in the first dust-collecting device130, into the docking station 200 when the robot cleaner 100 docks withthe docking station 200.

A brush 116 to sweep up the dust on the floor is rotatably installed tothe robot body 110 at a position adjacent to the inlet hole 113. Also,an inlet pipe 117 is installed between the inlet hole 113 and the firstdust-collecting device 130 to connect them with each other.

The dust discharge port 115 is provided with an opening/closing device140. The opening/closing device 140 closes the dust discharge port 115during the cleaning operation of the robot cleaner 100, to prevent thesuction force of the first suction device 120 from leaking through thedust discharge port 115. Also, when it is desired to remove the dustcollected in the first dust-collecting device 130 after the robotcleaner 100 docks with the docking station 200, the opening/closingdevice 140 opens the dust discharge port 115, to allow the dust in thefirst dust-collecting device 130 to move into the docking station 200.

The opening/closing device 140 includes an opening/closing member 141having one end hingedly coupled to the robot body 110 so as to open orclose the dust discharge port 115, and a spring (not shown) toelastically bias the opening/closing member 141 in a direction closingthe dust discharge port 115.

Meanwhile, the robot cleaner 100 includes a charging battery 150 tosupply power required for the operation thereof. The charging battery150 is connected to a charging terminal 151 of the robot body 110. Thecharging terminal 151 protrudes outward from the robot body 110 and canbe charged by a commercial alternating current source when the robotcleaner 100 docks with the docking station 200.

As shown in FIG. 2, the docking station 200 includes a station body 210,a second suction device 220 installed in the station body 210 togenerate a suction force, and a second dust-collecting device 230 tocollect the dust suctioned from the first dust-collecting device 130 ofthe robot cleaner 100 by operation of the second suction device 220.Although not shown in the drawings, the second suction device 200includes a suction motor (not shown) and a blowing fan (not shown) to berotated by the suction motor.

The station body 210 has an extending portion 210 a extending forward tocover the top of the robot cleaner 100 when the robot cleaner 100 dockswith the docking station 200. The extending portion 210 a incorporates asuction channel 211 to guide the dust suctioned through a dust suctionport 331 into the second dust-collecting device 230. A receiving region210 b is defined below the extending portion 210 a to receive the robotcleaner 100 when the robot cleaner 100 docks with the docking station200.

The robot cleaner system according to an exemplary embodiment furtherincludes a docking device 300 to displace the dust suction port 331 ofthe docking station 200, so as to allow the dust suction port 331 tocome into close contact with the dust discharge port 115 of the robotcleaner 100 when the robot cleaner 100 docks with the docking station200. The docking device 300 is operated by a movement of the robotcleaner 100 without a separate drive device. Hereinafter, theconfiguration of the docking device 300 will be described with referenceto FIGS. 1 to 3.

FIG. 3 is a perspective view showing the configuration of the dockingdevice of the robot cleaner system according to an exemplary embodiment.As shown in FIGS. 1 to 3, the docking device 300 includes a link member310 coupled to the docking station 200 in a pivotally rotatable manner.

One end of the link member 310 is provided with a contact portion 320 tocome into contact with the robot cleaner 100 when the robot cleaner 100docks with the docking station 200. The other end of the link member 310is provided with a docking portion 330. The dust suction port 331 isdefined in the docking portion 330. If the contact portion 320 of thelink member 310 comes into contact with the robot cleaner 100 that ismoving to the docking station 200, the link member 310 performs a seesawmotion, thereby allowing the dust suction port 331 to come into closecontact with the dust discharge port 115 of the robot cleaner 100.

The link member 310 has a rotating shaft 311 as a rotating centerthereof. The rotating shaft 311 is coupled to a frame 240 defining thebottom of the extending portion 210 a of the docking station 200. Therotating shaft 311 of the link member 310 is preferably located adjacentto the contact portion 320. This is to allow the docking portion 330located at the opposite side of the contact portion 320 to attain arelatively large pivotal rotation angle even if the contact portion 320has a small pivotal rotation angle. Meanwhile, the frame 240 hasupwardly protruding shaft coupling portions 241 arranged by apredetermined interval. The shaft coupling portions 241 have couplingholes 241 a, respectively, for the coupling of the rotating shaft 311 ofthe link member 310.

The contact portion 320 of the link member 310 extends downward througha first opening 242 perforated in the frame 240, to come into contactwith an upper surface of the robot body 110 upon docking of the robotcleaner 100. The contact portion 320 may be provided with a roller 321.The roller 321 serves to guide an efficient movement of the contactportion 320 even in a state wherein the contact portion 320 of the linkmember 310 comes into contact with the robot cleaner 100.

Meanwhile, the robot cleaner 100 has a slope 118 to guide the movementof the contact portion 320. The slope 118 is configured to assure anupward pivotal rotation of the contact portion 320 when the robotcleaner 100, which is in contact with the contact portion 320, movestoward the docking station 200.

The frame 240 has a second opening 243 perforated at a positioncorresponding to the docking portion 330 of the link member 310. Thedust suction port 331 defined in the docking portion 330 is exposed tothe outside below the frame 240 through the second opening 243.

The docking device 300 may also include a sealing member 340 to seal agap between the dust discharge port 115 of the robot cleaner 100 and thedust suction port 331 of the docking station 200. The sealing member 340may be fitted around the docking portion 330 to surround the dustsuction port 331. Specifically, even in a state wherein the dust suctionport 331 and the dust discharge port 115 come into close contact witheach other by the docking device 300, there may still exist a gapbetween the dust suction port 331 and the dust suction port 115. Thesealing member 340 prevents the loss of a suction force through the gap.

A flexible joint pipe 350 having repeatedly formed pleats (See referencenumeral 350 in FIG. 2) is installed between the docking portion 330 andthe suction channel 211 of the docking station 200. One end of the jointpipe 350 communicates with the dust suction port 331, and the other endof the joint pipe 350 communicates with the suction channel 211. Thejoint pipe 350 is flexibly folded or unfolded according to a movement ofthe docking portion 330 when the docking portion 330 is pivotallyrotated vertically.

The docking device 300 further includes elastic members 360 toelastically bias the link member 310 such that the dust suction port 331of the docking portion 330 is spaced apart from the dust discharge port115 of the robot cleaner 100. The elastic members 360 are locatedbetween the rotating shaft 311 of the link member 310 and the dockingportion 330, to elastically support the link member 310. The link member310 has fixing recesses 312 each fixing one side of the associatedelastic member 360. The frame 240 has fixing recesses 244 each fixingthe other side of the associated elastic member 360. Thereby, eachelastic member 360 is mounted between the two fixing recesses 312 and244.

Meanwhile, as shown in FIG. 2, the station body 210 incorporates acharging device 250 to charge the charging battery 150 of the robotcleaner 100. The charging device 250 is provided at one side thereofwith a power terminal 251, which will be electrically connected with thecharging terminal 151 upon docking of the robot cleaner 100.

Hereinafter, the operation of the robot cleaner system having the abovedescribed configuration will be described with reference to FIGS. 1 to5. FIGS. 4 and 5 are sectional views illustrating the operation of therobot cleaner system according to an exemplary embodiment.

If a cleaning operation begins, the robot cleaner 100 cleans the floorby self-running thereof. In this case, the dust discharge port 115 ofthe robot cleaner 100 is closed by the opening/closing device 140, toprevent the suction force generated by the first suction device 120 fromleaking through the dust discharge port 115. With the suction force,dust on the floor is suctioned through the inlet hole 113 and the inletpipe 117, thereby being collected in the first dust-collecting device130.

If the dust over a predetermined level is accumulated in the firstdust-collecting device 130, the robot cleaner 100 stops the cleaningoperation and returns to the receiving region 210 b of the dockingstation 200 for the discharge of the dust. When the robot cleaner 100moves below the extending portion 210 a as shown in FIG. 4, the dockingportion 330 of the link member 310 keeps a predetermined distance withthe robot cleaner 100 under the influence of an elastic force generatedby the elastic members 360. Accordingly, there is no interferencebetween the docking portion 330 and the robot cleaner 100.

As shown in FIG. 5, if the robot cleaner 100 further moves to come intocontact with the contact portion 320 of the link member 310, the contactportion 320 is guided by the slope 118 of the robot body 110, so as tobe pivotally rotated upward by a predetermined angle. Thereby, thedocking portion 330, located at the opposite side of the contact portion320 about the rotating shaft 311, is pivotally rotated downward, therebycausing the dust suction port 331 of the docking portion 330 to comeinto close contact with the dust discharge port 115 of the robot cleaner100.

After a docking operation is completed as described above, the secondsuction device 220 of the docking station 200 begins to operate. With asuction force generated by the second suction device 200, theopening/closing device 140 of the robot cleaner 100 is opened, and thedust collected in the first dust-collecting device 130 is suctioned intothe second dust-collecting device 230 by sequentially passing throughthe dust discharge port 115, the dust suction port 331, the joint pipe350, and the suction channel 211.

Meanwhile, the charging terminal 151 of the robot cleaner 100 isconnected to the power terminal 251 of the docking station 200, tocharge the charging battery 150 of the robot cleaner 100.

If the dust in the first dust-collecting device 130 is completelyremoved, the operation of the second suction device 200 is stopped, andthe robot cleaner 100 undocks with the docking station 200, to againperform a cleaning operation. If the contact portion 320 of the linkmember 310 is separated from the robot body 110 by a movement of therobot cleaner 100, the contact portion 320 is pivotally rotated downwardby the elastic force of the elastic members 360, and the docking portion330 is pivotally rotated upward. Thereby, the dust suction port 331 ofthe docking portion 330 is spaced apart from the dust discharge port 115of the robot cleaner 100 by a predetermined distance, and the robotcleaner 100 can move to a cleaning region.

FIG. 6 is a sectional view illustrating the configuration of a robotcleaner system according to another exemplary embodiment. FIG. 7 is asectional view showing a partial configuration of FIG. 6. In the presentexemplary embodiment, a vacuum cleaner is connected to the dockingstation, to suction dust in the robot cleaner. In the followingdescription, the same reference numerals will be used to refer to thesame elements as those of the exemplary embodiment shown in FIGS. 1 to5, and only characteristic items of the present exemplary embodimentwill be described.

As shown in FIGS. 6 and 7, the robot cleaner system according to thepresent exemplary embodiment includes a vacuum cleaner 400 to beconnected to a docking station 200′. The vacuum cleaner 400 is used tosuction dust collected in the robot cleaner 100 when the robot cleaner100 docks with the docking station 200′.

The vacuum cleaner 400 is separable from the docking station 200′.Accordingly, a user can clean the floor by using the separated vacuumcleaner 400 as a general vacuum cleaner. That is, once being separatedfrom the docking station 200′, the user can clean the floor whilecarrying the vacuum cleaner 400. Hereinafter, the vacuum cleaner 400will be referred to as a manual vacuum cleaner for distinction with therobot cleaner 100.

The manual vacuum cleaner 400 generally includes a suction device 420and a dust-collecting device 430. When the manual vacuum cleaner 400 isconnected to the docking station 200′ in order to suction the dustcollected in the robot cleaner 100, the docking station 200′ has no needfor a suction device or dust-collecting device, and the overallconfiguration of the docking station 200′ can be simplified.

The manual vacuum cleaner 400 includes a suctioning mouth unit 440 tosuction dust or dirt on the floor, and a suction pipe 450 to connect thesuction mouth unit 400 and the vacuum cleaner body 410 with each otherso as to transmit a suction force generated from the suction device 420to the suctioning mouth unit 440.

The suction pipe 450 includes a first suction pipe 451 and a secondsuction pipe 452. A handle member 453, provided with a variety ofoperating buttons, is located between the first suction pipe 451 and thesecond suction pipe 452. The first suction pipe 451 is a flexiblepleated pipe. The first suction pipe 451 has one end connected to avacuum cleaner body 410, and the other end connected to the handlemember 453. The second suction pipe 452 has one end connected to thesuctioning mouth unit 440 and the other end connected to the handlemember 453. The vacuum cleaner body 410 incorporates a suction channel411 to connect the first suction pipe 451 and the dust-collecting device430 with each other.

The manual vacuum cleaner 400 can be seated on the top of the dockingstation 200′ when being connected with the docking station 200′.

The docking station 200′ has a connecting port 212 perforated in the topthereof for the connection of the manual vacuum cleaner 400. Theconnecting port 212 communicates with the dust suction port 331 of thedocking station 200′ through the joint pipe 351 and a docking pipe 213.The manual vacuum cleaner 400 includes a connecting pipe 460 to befitted into the connecting port 212 of the docking station 200′ when themanual vacuum cleaner 400 is seated on the docking station 200′. One endof the connecting pipe 460 communicates with the suction channel 411 ofthe manual vacuum cleaner 400.

A path converter 470 is provided at a junction position of theconnecting pipe 460 and the suction channel 411, to selectively open orclose the connecting pipe 460 and the suction channel 411. While theuser cleans the floor by use of the manual vacuum cleaner 400, the pathconverter 470 closes the connecting pipe 460 and opens the suctionchannel 411, to apply the suction force of the suction device 420 to thesuctioning mouth unit 440. Also, when the manual vacuum cleaner 400 isused to suction the dust collected in the robot cleaner 100, the pathconverter 470 closes the suction channel 411 to communicate theconnecting pipe 460 with a part of the suction channel 411. Thereby, thesuction force of the suction device 420 is applied to the firstdust-collecting device 130 of the robot cleaner 100 through the dustsuction port 331 and the dust discharge port 115.

When it is desired to clean the floor by use of the manual vacuumcleaner 400, the user can separate the manual vacuum cleaner 400 fromthe docking station 200′, to use the manual vacuum cleaner 400 as ageneral vacuum cleaner.

On the other hand, when it is desired to clean the floor by use of therobot cleaner 100, the manual vacuum cleaner 400 is seated on thedocking station 200′. In this seating state, the connecting pipe 460 ofthe manual vacuum cleaner 400 is coupled with the docking pipe 213 ofthe docking station 200′. With this configuration, if the robot cleaner100 returns to the docking station 200′ for the discharge of the dust,as described above with reference to FIGS. 4 and 5, the dust suctionport 331 of the docking station 200′ comes into close contact with thedust discharge port 115 of the robot cleaner 100 by the docking device300.

Once the docking of the robot cleaner 100 is completed, the suctiondevice 420 of the manual vacuum cleaner 400 begins to operate. Thereby,the opening/closing device 140 of the robot cleaner 100 is opened by thesuction force of the suction device 420, and the dust collected in thefirst dust-collecting device 130 of the robot cleaner 100 can besuctioned into the dust-collecting device 430 by passing through thedust discharge port 115, the dust suction port 331, the joint pipe 350,the docking pipe 213, the connecting pipe 460, and the suction channel411 sequentially.

Meanwhile, although the above embodiments describe the docking device300 installed to the docking station 200 or 200′, it may be consideredthat the docking device 300 can be installed to the robot cleaner 100 bya simple design change. In this case, when the robot cleaner docks withthe docking station, the contact portion of the link member will bepivotally rotated as it comes into contact with the docking station.Also, the docking portion of the link member will define the dustdischarge port of the robot cleaner such that the dust discharge portcomes into close contact with the dust suction port of the dockingstation.

As apparent from the above description, according to exemplaryembodiments, dust collected in a robot cleaner can be transferred into adocking station in a state wherein a dust discharge port of the robotcleaner comes into close contact with a dust suction port of the dockingstation. As a result, exemplary embodiments have the effect ofpreventing the loss of a suction force or the leakage of the dustbetween the dust suction port and the dust discharge port.

Further, according to exemplary embodiments, the close contact betweenthe dust discharge port and the dust suction port can be accomplished byoperation of a docking device without an additional drive device.Accordingly, exemplary embodiments have the effect of preventing theconfiguration of the resulting system from being complicated due to theadditional drive device, and consequently, reducing the costs of parts.

Although a few exemplary embodiments have been shown and described, itwould be appreciated by those skilled in the art that changes may bemade in these exemplary embodiments, the scope of which is defined inthe claims and their equivalents.

1. A robot cleaner system comprising: a robot cleaner having a dustdischarge port; a docking station having a dust suction port to suctiondust collected in the robot cleaner; and a docking device to contactwith the robot cleaner to perform a seesaw movement when the robotcleaner docks with the docking station, so as to allow the dust suctionport to close contact with the dust discharge port.
 2. The systemaccording to claim 1, wherein the docking device comprises a link memberrotatably mounted to the docking station.
 3. The system according toclaim 2, wherein the link member comprises one end having a contactportion to contact with the robot cleaner, and the other end having adocking portion defining the dust suction port therein.
 4. The systemaccording to claim 3, wherein the contact portion is provided with aroller to rotate in contact with the robot cleaner.
 5. The systemaccording to claim 3, wherein the docking device further comprises anelastic member to elastically bias the link member such that the dustsuction port is spaced apart from the dust discharge port.
 6. The systemaccording to claim 1, wherein the docking device comprises a flexiblejoint pipe having one end communicating with the dust suction port andthe other end fixed to the docking station.
 7. The system according toclaim 1, wherein the docking device comprises a sealing member to seal agap between the dust discharge port and the dust suction port.
 8. Thesystem according to claim 1, wherein the robot cleaner comprises a slopeto guide the seesaw movement of the docking device when the robotcleaner moves in contact with the docking device.
 9. The systemaccording to claim 1, wherein the docking station comprises a suctiondevice to generate a suction force, and a dust-collecting device tocollect dust suctioned from the robot cleaner.
 10. The system accordingto claim 1, further comprising: a manual vacuum cleaner to be connectedwith the docking station, to suction the dust collected in the robotcleaner through the dust suction port.
 11. A robot cleaner systemcomprising: a robot cleaner having a dust discharge port; a dockingstation having a dust suction port to suction dust collected in therobot cleaner and a connecting port communicating with the dust suctionport; a docking device to be pivotally rotated as it comes into contactwith the robot cleaner when the robot cleaner docks with the dockingstation, so as to allow the dust suction port to close contact with thedust discharge port; and a manual vacuum cleaner having a connectingpipe to be fitted into the connecting port, the manual vacuum cleanerbeing used to suction the dust from the robot cleaner through the dustdischarge port, the dust suction port, and the connecting pipe.
 12. Thesystem according to claim 11, wherein the docking device comprises alink member rotatably mounted to the docking station, and the linkmember comprises one end having a contact portion to come into contactwith an upper surface the robot cleaner, and the other end having adocking portion defining the dust suction port therein.
 13. The systemaccording to claim 12, wherein the link member performs a seesawmovement in a first direction when the robot cleaner moves whilecontacting with the contact portion, so as to allow the dust suctionport to come into close contact with the dust discharge port, and alsoperforms a seesaw movement in a second direction when the robot cleaneris separated from the contact portion, so as to space apart the dustsuction port from the dust discharge port.
 14. A docking station to dockwith a robot cleaner having a dust discharge port, the docking stationcomprising: a frame; and a link member rotatably coupled to the frame,wherein the link member comprises a contact portion to be pivotallyrotated as it comes into contact with the robot cleaner upon docking ofthe robot cleaner, and a dust suction port formed at the opposite sideof the contact portion about a rotating center of the link member, thedust suction port coming into close contact with the dust discharge portof the robot cleaner by the pivotal rotation of the contact portion. 15.A docking device for allowing a dust suction port of a docking stationto move into close contact with a dust discharge port of a robotcleaner, comprising: a link member having a first end with a contactportion to contact the robot cleaner and a second end with a dockingportion defining the dust suction port therein, wherein the robotcleaner has a slope to guide the docking device to move the dust suctionport into close contact with the dust discharge port as the robotcleaner moves into the docking station to prevent leakage of dust duringtransfer of dust from the robot cleaner to the docking station.
 16. Thedocking device according to claim 15, further comprising an elasticmember to elastically bias the link member such that the dust suctionport is spaced from the dust discharge port as the robot cleaner departsfrom the docking station.
 17. The docking device according to claim 15,further comprising a flexible joint pipe having one end communicatingwith the dust suction port and the other end fixed to the dockingstation.
 18. The docking device according to claim 15, furthercomprising a sealing member to seal a gap between the dust dischargeport and the dust suction port.
 19. The docking device according toclaim 15, wherein the link member performs a seesaw movement in a firstdirection when the robot cleaner moves while contacting with the contactportion, so as to allow the dust suction port to come into close contactwith the dust discharge port, and also performs a seesaw movement in asecond direction when the robot cleaner is separated from the contactportion, so as to space apart the dust suction port from the dustdischarge port.
 20. A robot cleaner to dock with a docking device of adocking station having a dust suction port so as to discharge dustcollected therein, the robot cleaner comprising: a dust discharge port;and a slope to guide the docking device to move the dust suction portinto close contact with the dust discharge port as the robot cleanermoves into the docking station to prevent leakage of dust duringtransfer of dust from the robot cleaner to the docking station.